Simulation of Pick and Place Robotic Arm using Coppeliasim
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Abstract:
Technology is growing in a fast pace in terms of higher technical aspects to meet the requirements of the present industrial revolution. Technically sound human being alone not sufficient to co-op with the industrial revolution. To meet the growing demands of any industry through the available human in is a toughest task. Current industry revolution 4.0 is being implemented all over the world with the help of robotic technology. To perform the routine works and simple tasks increase the use of robotic arm handlings. At present there is a vast requirement for these types of robots in industries to perform repeatable actions like moving objects, welding, painting, packing goods, assembling of parts 3D printing etc., These types of robots are called robotic arm which are used precisely in industries to complete the work easier, quicker with perfection. The robotic arm is formed by connecting all the joints, motors to activate each joint of the robotic arm. Robotic arm is controlled by the micro controllers through program. The robotic arm is generally five to seven degrees of freedom and capable of rotate in all the directions. End effector is connected at the edge of the robot which is used to pick the objects. End effector is like the fingers in our human arm, in robotics how better the program controls the end effector decides the performance of the robotic arm. This work discusses the design of the robot arm through the coppeliasim. The designed manipulator gives the accurate and reliable output for picking and placing the object.Keywords:
Robot end effector
SMT placement equipment
Arm solution
Robotic paradigms
Industrial robot
The main purpose of this thesis is to implement Robot Operating System – Industrial (ROS-I) into the existing SGU’s Delta Arm Robot. The ROS-I was used due to its
emphasis of code reutilization and based on ROS which provides vast package library for robotics applications. The implementation consists of two main subsystems visionsystem and robot movement which at the end create
the whole structure of Delta Arm Robot to perform simple
pick and place task. The vision-system was used to perform object detection and sent the appropriate coordinate information from the detected object into the robot movement system. In the robot movement system, then the information will be processed to manipulate the Delta Arm Robot. Existing hardware from the robot such as Dynamixel servo, conveyor belt, and the Delta Arm Robot
parts were used in order to create those two subsystems. Additionally, new rotary end-effector and mechanical gripper were made for future development of the Delta Arm
Robot. At the end, the result of this thesis was a system that can perform a simple pick and place task and indirectly improve the Delta Arm Robot from the existing one.
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A multipurpose interior‐finishing robot offers a conceptual alternative to single‐purpose construction robots, which are already employed in practice. The robot could be adapted to various tasks, e.g., painting, plastering, building, or tiling, by modification of its effector and control mechanism. The paper addresses two main subjects: (1) It presents an overview of the interior‐finishing robot development process; and (2) it describes the methodology and results of one of the more important development stages—the selection of the configuration of the robot's arm. The development process of the robot included a number of interrelated studies: formulation of the robot performance specifications, the ensuing preliminary design, planning of robot activity in a building, analysis of the robot configuration, adaptation of building technology to the robot's constraints, and physical experiments with robotic performance of building tasks. The analysis aimed at selection of a preferred configuration for the robot's arm involves several major variables: the configuration of the joints, the reach of the arm, the length of its links, and the velocity attainable at the joints. The criteria employed in the selection of the preferred alternative were the general efficiency of operation, the productivity, and the cost of the arm.
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A robot identification method which is based on the simulation modelling and analysis of the robots as a mechatronic system is presented in this study. The ever-increasing use of robotic systems in production lines necessitates the improvement of their accuracy. To this direction, the proposed approach leads to the enhancement of the accuracy using a closed loop estimation system of the robot's dynamic parameters. Inaccurate positioning of the robot end effector mainly depends on the elastic behavior of the robot structure as well as the friction phenomena which occur in the motor's gear box. This study presents an easy to use method for the identification of an industrial robot's dynamic parameters based on physics-based simulation model. Using the robot motion data from both the digital and real robot, an intelligent algorithm is used to estimate the robot's dynamic parameters and eventually adjust the control of the robot motion for achieving higher accuracy. The implementation procedure is analyzed in this work and a set of experiments is presented to validate the proposed methodology in an industrial robotic cell.
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Robot tool-center-point (TCP) positions are critical elements in industrial robot application programs. Their measurements and accuracies rely on the actual geometries and positions of components in a robot cell. Tiny changes of the components such as robots, end-effectors, fixtures, parts in the robot cells will cause inaccuracies of robot TCP positions used in existing robot programs. This paper introduces the method of performing robot cell calibrations to recover the accuracies of originally defined robot TCP positions. This is done by employing a precise external measuring system that is able to calibrate the robot, end-effector, and fixture in a robot cell with spatial measurements and mathematical calculations. Successful applications of this technology allow rapid deployments of industrial robot applications by accurately transferring or downloading production robot programs between two "identical" robot cells.
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In the present, the robot arms are widely used in many industries. Those robot arms have different qualities and features based on their use. Therefore, the uncertainty of the robot arms is necessary for precision applications. The uncertainty shows that can the results of the robot arms work be acceptable or not. In this research, used 4 degree of freedom (DOF) robot arm as a prototype in analysis. This robot arm has determined the rotation angle of each joint according to the actual design. The research phase starts from analyzing the rotation of each joint, using statistical and measurements to find the standard uncertainty of each joint then you can find the standard uncertainty of the entire robot arm. In this research, the values are represented as symbols and patterns of mathematical models. Based on this research, the mathematical model can be a prototype to apply to other robot arms further.
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Technology is growing in a fast pace in terms of higher technical aspects to meet the requirements of the present industrial revolution. Technically sound human being alone not sufficient to co-op with the industrial revolution. To meet the growing demands of any industry through the available human in is a toughest task. Current industry revolution 4.0 is being implemented all over the world with the help of robotic technology. To perform the routine works and simple tasks increase the use of robotic arm handlings. At present there is a vast requirement for these types of robots in industries to perform repeatable actions like moving objects, welding, painting, packing goods, assembling of parts 3D printing etc., These types of robots are called robotic arm which are used precisely in industries to complete the work easier, quicker with perfection. The robotic arm is formed by connecting all the joints, motors to activate each joint of the robotic arm. Robotic arm is controlled by the micro controllers through program. The robotic arm is generally five to seven degrees of freedom and capable of rotate in all the directions. End effector is connected at the edge of the robot which is used to pick the objects. End effector is like the fingers in our human arm, in robotics how better the program controls the end effector decides the performance of the robotic arm. This work discusses the design of the robot arm through the coppeliasim. The designed manipulator gives the accurate and reliable output for picking and placing the object.
Robot end effector
SMT placement equipment
Arm solution
Robotic paradigms
Industrial robot
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The industrial dual-arm robot is being developed. The developed industrial dual-arm robot aim to work with human workers or to work instead of human workers. Redundancy by high degree of freedom caused by arm and waist make robot movement difficult in the narrow space for human workers. Robot arms would take unexpected posture without proper redundant control method. In particular elbows can cause hazard situation by colliding with the environment or body of robot. Here novel method to control robot elbows is introduced. It shows good performance without loss of the position precision of end-effectors. Also it does not require high computing power, which make it useful for practical robot control. The proposed method is confirmed by the simulation.
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Bang-bang robot
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A new structure of dual arm robot manipulator which consists of two industrial 6-DOF arms and one 2-DOF Torso is
introduced. Each industrial 6-DOF arm is able to be used as a stand-alone industrial 6-DOF robot manipulator and as a
part of dual arm manipulator at the same time. These structures help the robot maker which is willing to succeed in the
emerging dual arm robot market in order to have high competition for the current industrial robot market at same time.
Self-collision detection algorithm for multi-arm robot and kinematics algorithms for the developed dual arm robot
manipulator which are implemented in our controller are introduced.
Manipulator (device)
Robot manipulator
Industrial robot
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Mobile manipulator
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The last few decades have demonstrated the benefit of fast, vast and inexpensive robots in production sectors. Robots in the industry can be cooperative or supportive to the workers. Some significant tasks such as, industrial automation, painting, welding, package loading and unloading, cutting and application specific tasks can be performed using industrial robotic arm. The aim of the project is to pick and place the objects in industries using robot arms. Z-Robot is a double arm robot. The robot arms follow the loop in a program to run the servo motors. Arduino program stores the position of each motor. When the pick command is received servo motors fixed with the robot arms start rotating based on the program and picks up the object. When the drop command is received the robot arms drops down the object. The pick and place operations can be done in any direction. End effectors connected with arm setup is used to pick and place the object.
SMT placement equipment
Robot end effector
Arduino
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